Vehicular control system for emergency handling

• US 10,889,293 B2
• Filed: 11/29/2018
• Issued: 01/12/2021
• Est. Priority Date: 11/23/2015
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Viehmann, Alexander F.
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US16/203,976
• Publication Number:
  US 20190092323A1
• Time in Patent Office: 775 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 9/005 Emergency systems using brakes for steering
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A vehicular control system includes a control disposed at a vehicle. A camera is disposed at the vehicle and has a field of view exterior and at least forward of the vehicle. The control is operable to at least partially control driving of the vehicle responsive to determination of an emergency driving condition. The control, responsive to determination of an emergency driving condition, determines a target stopping location ahead of the vehicle at a road along which the vehicle is traveling. The control determines the target stopping location responsive at least in part to processing of image data captured by the camera. The control, responsive to determination of the target stopping location, at least partially controls driving of the vehicle to the target stopping location.

Claims

1. A vehicular control system, said vehicular control system comprising:

a control disposed at a vehicle equipped with said vehicular control system;

a camera disposed at the vehicle and having a field of view exterior and at least forward of the vehicle;

wherein said control is operable to at least partially control driving of the vehicle responsive to determination of an emergency driving condition;

wherein, responsive to determination of the emergency driving condition occurring while the vehicle is traveling within a section of a road having a determined road condition, said control at least partially controls driving of the vehicle along the section of the road;

wherein said control, responsive to determination of the emergency driving condition, and responsive to determination that the road condition changes, determines a target stopping location ahead of the vehicle at the road along which the vehicle is traveling;

wherein one selected from the group consisting of (i) the determined road condition comprises a road construction zone and the determined change in the road condition comprises the road construction zone ending, (ii) the determined road condition comprises a narrow road and the determined change in the road condition comprises the narrow road widening, and (iii) the determined road condition comprises a road that does not have a shoulder and the determined change in the road condition comprises a shoulder of the road beginning;

wherein said control determines the target stopping location responsive at least in part to processing of image data captured by said camera; and

wherein said control, responsive to determination of the target stopping location, at least partially controls driving of the vehicle to the target stopping location.

2. The vehicular control system of claim 1, wherein, responsive to an input from a driver of the vehicle that is indicative of the driver not wanting to stop the vehicle at the target stopping location, said control does not stop the vehicle at the target stopping location.

3. The vehicular control system of claim 2, wherein the input from the driver comprises the driver accelerating the vehicle.

4. The vehicular control system of claim 1, wherein the determined road condition comprises a road construction zone, and wherein the determined change in the road condition change comprises the road construction zone ending.

5. The vehicular control system of claim 1, wherein the determined road condition comprises a narrow road, and wherein the determined road condition change comprises the narrow road widening.

6. The vehicular control system of claim 1, wherein the determined road condition comprises a road without a shoulder, and wherein the determined road condition change comprises a shoulder of the road beginning.

7. The vehicular control system of claim 1, wherein the determined road condition comprises traffic on the road, and wherein the determined road condition change comprises a less dense traffic condition.

8. The vehicular control system of claim 1, wherein said control, when at least partially controlling driving of the vehicle, controls at least one from the group consisting of (i) steering of the vehicle, (ii) braking of the vehicle and (iii) acceleration of the vehicle.

9. The vehicular control system of claim 8, wherein said control controls braking at individual ones of wheels of the vehicle to assist in controlling driving of the vehicle.

10. The vehicular control system of claim 8, wherein said control controls the torque of individual ones of wheels of the vehicle to assist in controlling driving of the vehicle.

11. The vehicular control system of claim 8, wherein said control controls the direction of individual ones of wheels of the vehicle that are being steered with an individual steering angle offset to assist in controlling driving of the vehicle.

12. The vehicular control system of claim 1, wherein said control determines the emergency driving condition responsive to one or more sensors of the vehicle.

13. The vehicular control system of claim 1, wherein said control determines the emergency driving condition responsive at least in part to processing of image data captured by said camera.

14. The vehicular control system of claim 1, wherein the vehicle comprises an autonomous vehicle.

15. A vehicular control system, said vehicular control system comprising:

a control disposed at a vehicle equipped with said vehicular control system;

a camera disposed at the vehicle and having a field of view exterior and at least forward of the vehicle;

wherein said control is operable to at least partially control driving of the vehicle responsive to determination of an emergency driving condition;

wherein, responsive to determination of the emergency driving condition occurring while the vehicle is traveling within a section of a road having a determined road condition, said control at least partially controls driving of the vehicle along the section of the road;

wherein said control, responsive to determination of the emergency driving condition, determines a target stopping location ahead of the vehicle at the road along which the vehicle is traveling;

wherein said control determines the target stopping location responsive at least in part to processing of image data captured by said camera;

wherein said control determines the target stopping location based at least in part on a road condition of the road on which the vehicle is traveling;

wherein said control determines the target stopping location to be at a location along the road after the road condition changes;

wherein one selected from the group consisting of (i) the determined road condition comprises a road construction zone and the determined change in the road condition comprises the road construction zone ending, (ii) the determined road condition comprises a narrow road and the determined change in the road condition comprises the narrow road widening, and (iii) the determined road condition comprises a road that does not have a shoulder and the determined change in the road condition comprises a shoulder of the road beginning; and

wherein said control, responsive to determination of the target stopping location, at least partially controls driving of the vehicle to the target stopping location.

16. The vehicular control system of claim 15, wherein, responsive to an input from a driver of the vehicle that is indicative of the driver not wanting to stop the vehicle at the target stopping location, said control does not stop the vehicle at the target stopping location.

17. The vehicular control system of claim 16, wherein the input from the driver comprises the driver accelerating the vehicle.

18. The vehicular control system of claim 15, wherein the determined road condition comprises a road construction zone, and wherein the determined road condition change comprises the road construction zone ending.

19. The vehicular control system of claim 15, wherein the determined road condition comprises a narrow road, and wherein the determined road condition change comprises the narrow road widening.

20. The vehicular control system of claim 15, wherein the determined road condition comprises a road without a shoulder, and wherein the determined road condition change comprises a shoulder of the road beginning.

21. The vehicular control system of claim 15, wherein the determined road condition comprises traffic on the road, and wherein the determined road condition change comprises a less dense traffic condition.

22. The vehicular control system of claim 15, wherein the vehicle comprises an autonomous vehicle.

23. A vehicular control system, said vehicular control system comprising:

a control disposed at a vehicle equipped with said vehicular control system;

a camera disposed at the vehicle and having a field of view exterior and at least forward of the vehicle;

wherein said control is operable to at least partially control driving of the vehicle responsive to determination of an emergency driving condition;

wherein said control, when at least partially controlling driving of the vehicle, controls at least one from the group consisting of (i) steering of the vehicle, (ii) braking of the vehicle and (iii) acceleration of the vehicle;

wherein, responsive to determination of the emergency driving condition occurring while the vehicle is traveling within a section of a road having a determined road condition, said control at least partially controls driving of the vehicle along the section of the road;

wherein said control, responsive to determination of the emergency driving condition, and responsive to determination that the road condition changes, determines a target stopping location ahead of the vehicle at the road along which the vehicle is traveling;

wherein one selected from the group consisting of (i) the determined road condition comprises a road construction zone and the determined change in the road condition comprises the road construction zone ending, (ii) the determined road condition comprises a narrow road and the determined change in the road condition comprises the narrow road widening, and (iii) the determined road condition comprises a road that does not have a shoulder and the determined change in the road condition comprises a shoulder of the road beginning;

wherein said control determines the emergency driving condition responsive to one or more sensors of the vehicle;

wherein said control determines the target stopping location responsive at least in part to processing of image data captured by said camera;

wherein said control, responsive to determination of the target stopping location, at least partially controls driving of the vehicle to the target stopping location; and

wherein, responsive to an input from a driver of the vehicle that is indicative of the driver not wanting to stop the vehicle at the target stopping location, said control does not stop the vehicle at the target stopping location.

24. The vehicular control system of claim 23, wherein the input from the driver comprises the driver accelerating the vehicle.

25. The vehicular control system of claim 23, wherein said control determines the emergency driving condition responsive at least in part to processing of image data captured by said camera.

26. The vehicular control system of claim 23, wherein the vehicle comprises an autonomous vehicle.

27. The vehicular control system of claim 23, wherein the determined road condition comprises a road construction zone, and wherein the determined change in the road condition change comprises the road construction zone ending.

28. The vehicular control system of claim 23, wherein the determined road condition comprises a road without a shoulder, and wherein the determined road condition change comprises a shoulder of the road beginning.